EP4054804B1 - Articulation à trois degrés de liberté pour un robot et procédé de commande correspondant - Google Patents
Articulation à trois degrés de liberté pour un robot et procédé de commande correspondant Download PDFInfo
- Publication number
- EP4054804B1 EP4054804B1 EP20797769.5A EP20797769A EP4054804B1 EP 4054804 B1 EP4054804 B1 EP 4054804B1 EP 20797769 A EP20797769 A EP 20797769A EP 4054804 B1 EP4054804 B1 EP 4054804B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- platform
- articulation
- rotation
- rotation angle
- reference frame
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims description 10
- 239000013598 vector Substances 0.000 claims description 52
- 238000010276 construction Methods 0.000 claims description 14
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- 230000003993 interaction Effects 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 3
- 241000287107 Passer Species 0.000 description 2
- 229920000297 Rayon Polymers 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000014509 gene expression Effects 0.000 description 2
- 239000002964 rayon Substances 0.000 description 2
- 210000000707 wrist Anatomy 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 1
- 241001465754 Metazoa Species 0.000 description 1
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Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0048—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
- B25J9/1623—Parallel manipulator, Stewart platform, links are attached to a common base and to a common platform, plate which is moved parallel to the base
Definitions
- the technical field of the invention is joints with actuators for robots, and more particularly joints with three degrees of freedom.
- Another technical field of the invention is the control of joints with three degrees of freedom.
- Operational safety stems in particular from the mass of the robot or its limbs in order to limit inertia in the control and limit the risks of injuring the public.
- the first actuator of the series supports in addition to the payload, the mass of the second and third actuators.
- the second actuator which must support the mass of the third actuator.
- Bulgarelli et al. discloses control of the joint through a representation of Euler angles. Such a representation is classically used for such complex systems but is unstable. It can therefore lead to a cardan blockage.
- Joints with parallel actuators of the state of the art have the disadvantage of a large size of the frame on which the motors are fixed. These joints are difficult to integrate into a mobile robot.
- the document CN 108972505A discloses a joint with three degrees of freedom with parallel kinematics of the 3PcSS+RTR type.
- a central hinge located between the three actuating arms is necessary to constrain the joint to function as a mechanism with three degrees of freedom.
- the technical problem to be solved is how to benefit from the advantages of a parallel actuator while having a reduced size.
- Each motor can be eccentric with respect to the axis of rotation of the discs and arranged in a different angular sector, so as to contain the three motors in the cavity delimited by the base and the stacked discs
- each disc head may have an offset angle corresponding to the offset angle between the motors.
- Each motor can also be provided with means for determining the output axis of the motor with respect to a reference position, in particular magnetic encoders.
- the rotation vector can be determined as the vector product between the vector normal to the platform in the initial position and the vector normal to the platform in the required position.
- the parameters related to the construction of the joint can be the diameter of the distal circle, the diameter of the proximal circle and the center of the proximal circle.
- the distal circle is the circle drawn by an arm around the platform.
- the proximal circle is the circle traced by the discs.
- the angle of rotation can be defined as the arc cosine of the dot product of a vector normal to the platform in the initial position by a vector normal to the platform in the required position.
- the system according to the invention has the advantage of being invertible, that is to say that the joint can function as a transducer. In other words, an action on the joint is transformed by the motors into electric current.
- the joint according to the invention comprises a system of three concentric axes driving the actuator.
- the motors moving the concentric axes are integrated inside the joint.
- Joint 1 makes it possible to move a platform 2 along three axes of freedom with respect to a base by controlling three motors in rotation.
- Joint 1 comprises a base in which are arranged three motors 3a, 3b, 3c each connected to a crown 4a, 4b, 4c via a pinion 5a, 5b, 5c.
- the engine 3c has been illustrated inside the crowns 4a, 4b, 4c.
- Motors 3a and 3b have not been illustrated for the sake of clarity. Nevertheless, the motor 3b is placed inside the crowns 4a, 4b and the motor 3a is placed inside the crown 4a.
- Each ring 4a, 4b, 4c is arranged inside a hollow disk 6a, 6b, 6c stacked on the base, so that each disk 6a, 6b, 6c is integral with a ring 4a, 4b, 4c.
- Each disc 6a, 6b, 6c is also itself secured to a disc head 7a, 7b, 7c extending in the same direction as the stack of the base and the discs 6a, 6b, 6c.
- Each motor 3a, 3b, 3c is also provided with means for determining the angular position of the output shaft of the motor relative to a reference position. Such determination means can be angular position sensors or magnetic encoders.
- FIG. 2 illustrates the connection of an arm with the platform and the disc in a general transposable case for each arm 8a, 8b, 8c.
- an arc-shaped arm 8,8a,8b,8c is connected in rotation on the one hand to the disc head 7,7a,7b,7c and d on the other hand to platform 2.
- the axis of rotation between the disc head 7,7a,7b,7c and the arm 8,8a,8b,8c and the axis of rotation between the arm 8,8a,8b, 8c and the platform 2 are included in the same plane as that comprising the corresponding arm 8,8a,8b,8c.
- the arc shape represents a quarter circle.
- the discs 6,6a,6b,6c form housings and are fitted with bearings to facilitate their movement, reduce friction and wear and maintain the alignment of the discs 6,6a,6b,6c with respect to at the base and between them.
- a first disc 6a is connected to a first arm 8a via a disc head 7a, the first disc 6a being driven by a first motor 3a via a first crown 4a , and a first pinion 5a.
- a second disc 6b is connected to a second arm 8b via a disc head 7b, the second disc 6b being driven by a second motor 3b via a first crown 4b, and d a second pinion 5b.
- a third disc 6c is connected to a third arm 8c via a disc head 7c, the third disc 6c being driven by a third motor 3c via a first crown 4c, and d a third gable 5c.
- the first disc 6a is stacked on the second disc 6b, itself stacked on the third disc 6c.
- the third disc 6c is placed on the base.
- the first arm 6a, the second arm 6b and the third arm 6c are connected to the platform.
- each pinion 5a, 5b, 5c is arranged at a different height from the base so as to mechanically drive the corresponding crown 4a, 4b, 4c.
- each motor 3a, 3b, 3c is eccentric with respect to the axis of rotation of the discs 6a, 6b, 6c and arranged in a different angular sector. This arrangement is illustrated by the picture 3 .
- each motor 3a, 3b, 3c is arranged in a different 120° sector.
- This offset angle of 120° is also found at the rest position of each disc head 7,7a,7b,7c, each disc head 7,7a,7b,7c being arranged at 120° from the other two.
- the motors 3a, 3b, 3c are controlled to control the orientation of the platform 2, which causes a rotation of each disc 6a, 6b, 6c on a circle called the proximal circle.
- the rotation of each disc 6a, 6b, 6c causes the rotation of the arm 8a, 8b, 8c which is mechanically connected to it on another circle, called the distal circle.
- a marker R linked to the platform 2 is illustrated there.
- the direct orthonormal three-dimensional frame R comprising an origin O(0,0,0) located at the barycenter of platform 2, a vector Z(0,0,1) normal to platform 2, a vector Y(0 ,1,0) extending parallel to the surface of the platform 2 and passing through the connection of the third arm 8c with the platform 2, a vector X(1,0,0) orthogonal to the vectors X and Y, and forming a direct orthonormal landmark.
- a three-dimensional direct reference is a reference in which the angle between the vector X and the vector Y is a direct angle, between the vector Y and the vector Z is a direct angle and between the vector Z and the vector X is a direct angle.
- the quaternion is a normalized vector of three-dimensional space combined with a rotation of an angle ⁇ around this vector.
- a first rotation is a rotation through an angle ⁇ around a vector V normal to the plane defined by the reference frames R0 and Rreq.
- a second rotation is a rotation through an angle ⁇ around the normal vector of platform 2.
- the normal vector of platform 2 can be the vector Z0, Zreq or any other intermediate vector.
- the sequence of rotations is irrelevant.
- the second rotation can be performed before the first rotation.
- V Z 0 ⁇ ⁇ Zreq ⁇
- the vector V is then normalized so that it can be used with quaternions.
- the vector normal to platform 2 is of the form (0,0,Z).
- the coordinates X0,Y0,Z0 and the coordinates Xreq,Yreq,Zreq are defined in the frame R0 linked to the initial position of the platform.
- the vector Zreq is not modified by the rotation according to the second angle of rotation ⁇ .
- the vectors Xreq and Yreq are indeed modified by this rotation.
- each disc is offset by 120° relative to the other. If we take the angular position of the first disc as a reference, we can obtain the angular position of the second disc by applying an offset of +120° to the angle of second rotation ⁇ and the angular position of the third disc by applying an offset of - 120° on the angle of second rotation ⁇ .
- the embodiment described above comprises a second rotation along the Z axis of the reference linked to the platform.
- the second rotation can be performed along the X axis or the Y axis, or according to a vector linked to the platform.
- Those skilled in the art will adapt the mathematical formalism described above according to the axis considered.
- first rotation and the second rotation can be interchanged without departing from the scope of the invention.
- the method for controlling an articulation with three degrees of freedom making it possible to steer the platform 2 according to a required position of the platform 2 and a required angle of rotation comprises the following steps.
- the coordinates of a direct three-axis orthonormal frame linked to the platform 2 of the joint are determined for the initial position and the coordinates of a direct three-axis orthonormal frame linked to the platform 2 of the joint for the required position and a required angle of rotation.
- the coordinates of a rotation vector V making it possible to pass from the reference linked to the initial position of the platform 2 to a reference linked to an intermediate position of the platform 2 in the reference three axes linked to the platform 2 of the articulation for the initial position, the intermediate position being such that the passage from the intermediate position of the platform 2 to the required position involves a rotation of the platform 2 on itself according to the angle rotation required.
- an initial angle of rotation is determined making it possible to pass from the initial position of the platform 2 to an intermediate position of the platform 2.
- the coordinates of the three-axis reference linked to the platform 2 of the joint for the required position are determined in the three-axis reference linked to the platform 2 of the joint for the initial position.
- the angle of rotation of the first arm ⁇ 31 is determined as a function of the coordinates of the three-axis reference linked to the platform 2 of the joint for the position required in the three-axis reference linked to the platform 2 of the joint for the initial position of the required angle of rotation, the initial angle of rotation and parameters related to the construction of the joint,
- the angle of rotation of the second arm ⁇ 32 is determined as a function of the coordinates of the three-axis reference linked to the platform 2 of the joint for the position required in the three-axis reference linked to the platform 2 of the joint for the initial position, of the required angle of rotation added to an angular offset value, of the initial angle of rotation and of parameters related to the construction of the joint,
- the angle of rotation of the third arm ⁇ 33 is determined as a function of the coordinates of the three-axis reference linked to the platform 2 of the joint for the position required in the three-axis reference linked to the platform 2 of the joint for the initial position, the required angle of rotation minus the angular value of offset, the initial angle of rotation and parameters related to the construction of the joint,
- an angle of rotation of the disc is determined as a function of the angle of rotation of the corresponding arm and of the coordinates of the three-axis reference frame linked to the platform 2 of the joint for the position required in the three-axis frame linked to the platform 2 of the joint for the initial position,
- Each motor is controlled with the angle of rotation of the disc corresponding to the motor.
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1912398A FR3102697B1 (fr) | 2019-11-05 | 2019-11-05 | Articulation à trois degrés de liberté pour un robot et procédé de commande correspondant |
PCT/EP2020/080666 WO2021089474A1 (fr) | 2019-11-05 | 2020-11-02 | Articulation à trois degrés de liberté pour un robot et procédé de commande correspondant |
Publications (3)
Publication Number | Publication Date |
---|---|
EP4054804A1 EP4054804A1 (fr) | 2022-09-14 |
EP4054804C0 EP4054804C0 (fr) | 2023-07-19 |
EP4054804B1 true EP4054804B1 (fr) | 2023-07-19 |
Family
ID=69630434
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP20797769.5A Active EP4054804B1 (fr) | 2019-11-05 | 2020-11-02 | Articulation à trois degrés de liberté pour un robot et procédé de commande correspondant |
Country Status (9)
Country | Link |
---|---|
US (1) | US20220395973A1 (zh) |
EP (1) | EP4054804B1 (zh) |
JP (1) | JP2023500382A (zh) |
KR (1) | KR20220083815A (zh) |
CN (1) | CN114829077A (zh) |
CA (1) | CA3157152A1 (zh) |
ES (1) | ES2959021T3 (zh) |
FR (1) | FR3102697B1 (zh) |
WO (1) | WO2021089474A1 (zh) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR3141363A1 (fr) * | 2022-10-28 | 2024-05-03 | Pollen Robotics | Articulation à trois degrés de liberté avec renvoi d’efforts |
FR3142928A1 (fr) * | 2022-12-13 | 2024-06-14 | Safran Electronics & Defense | Dispositif de veille optronique stabilisée par robot manipulateur |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6581437B2 (en) * | 2000-05-12 | 2003-06-24 | Alberta Research Council Inc. | Motion platform and method of use |
DE20209440U1 (de) * | 2002-06-13 | 2002-08-29 | Sig Technology Ltd., Neuhausen Am Rheinfall | Vorrichtung zum Bewegen und Positionieren eines Gegenstandes im Raum |
WO2009148603A1 (en) * | 2008-06-04 | 2009-12-10 | Ross-Hime Designs, Inc. | Robotic manipulator |
DE102010005586B4 (de) * | 2010-01-22 | 2012-03-29 | Martin Schwab | Hexapod |
CN102029614B (zh) * | 2011-01-24 | 2012-05-30 | 哈尔滨工业大学 | 三自由度球型空间机器人手腕 |
JP6504864B2 (ja) * | 2015-03-13 | 2019-04-24 | キヤノン株式会社 | ロボット制御方法、ロボット装置、プログラム、記録媒体及び物品の製造方法 |
CN107035820B (zh) * | 2016-12-29 | 2023-06-16 | 华南理工大学 | 一种多自由度节圆内啮合环型移动传动装置 |
CN207309930U (zh) * | 2017-08-21 | 2018-05-04 | 安徽工程大学 | 单输入多自由度并联变胞平台 |
CN107932480A (zh) * | 2017-11-29 | 2018-04-20 | 中国科学院沈阳自动化研究所 | 通过同轴旋转驱动的二自由度定心并联机构 |
JP6688470B2 (ja) * | 2018-03-12 | 2020-04-28 | 株式会社安川電機 | パラレルリンクロボット及びパラレルリンクロボットシステム |
CN109101033B (zh) * | 2018-06-19 | 2021-05-07 | 成都嘉义恒远科技有限公司 | 一种基于曲柄连杆机构的六自由平台姿态正解方法 |
CN108972505A (zh) * | 2018-07-02 | 2018-12-11 | 华南理工大学 | 一种3PcSS+RTR球铰链代换型并联机构 |
-
2019
- 2019-11-05 FR FR1912398A patent/FR3102697B1/fr active Active
-
2020
- 2020-11-02 EP EP20797769.5A patent/EP4054804B1/fr active Active
- 2020-11-02 CA CA3157152A patent/CA3157152A1/fr active Pending
- 2020-11-02 JP JP2022526454A patent/JP2023500382A/ja active Pending
- 2020-11-02 ES ES20797769T patent/ES2959021T3/es active Active
- 2020-11-02 WO PCT/EP2020/080666 patent/WO2021089474A1/fr unknown
- 2020-11-02 KR KR1020227017214A patent/KR20220083815A/ko unknown
- 2020-11-02 US US17/774,764 patent/US20220395973A1/en active Pending
- 2020-11-02 CN CN202080088503.2A patent/CN114829077A/zh active Pending
Also Published As
Publication number | Publication date |
---|---|
FR3102697B1 (fr) | 2024-03-08 |
WO2021089474A1 (fr) | 2021-05-14 |
EP4054804C0 (fr) | 2023-07-19 |
FR3102697A1 (fr) | 2021-05-07 |
KR20220083815A (ko) | 2022-06-20 |
US20220395973A1 (en) | 2022-12-15 |
ES2959021T3 (es) | 2024-02-19 |
EP4054804A1 (fr) | 2022-09-14 |
CA3157152A1 (fr) | 2021-05-14 |
CN114829077A (zh) | 2022-07-29 |
JP2023500382A (ja) | 2023-01-05 |
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